Surgical suturing and grasping device

ABSTRACT

An end effector for a suturing and grasping device includes a stationary jaw member, a suturing jaw member, and a grasping jaw member. The suturing jaw member is selectively movable relative to the stationary jaw member to drive a suturing needle between the suturing jaw member and the stationary jaw member. The grasping jaw member is selectively movable relative to the stationary jaw member to grasp tissue between the stationary jaw member and the grasping jaw member.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.16/126,217, filed on Sep. 10, 2018, which claims the benefit of U.S.Provisional Patent Application No. 62/581,160 filed Nov. 3, 2017, theentire disclosure of each of which is incorporated by reference herein.

TECHNICAL FIELD

The present disclosure relates to surgical suturing, and moreparticularly, to devices, systems and methods for suturing and graspingtissue.

BACKGROUND

During laparoscopic suturing, a surgeon typically utilizes a needledriver with one hand and a tissue grasper with another hand. In manyinstances, the needle driver is used to hold the needle while passing itthrough tissue; and then used to grasp tissue as the tissue grasper isrepositioned from grasping tissue to grasping the needle. To limit theneed for instrument exchange, surgeons often utilize a needle driver toboth grasp tissue and drive a needle or they use a tissue grasper toboth drive a needle and grasp tissue. Unfortunately, a needle driver maynot provide for a satisfactory tissue grasper and a tissue grasper maynot provide for a satisfactory needle driver.

SUMMARY

The present disclosure is generally directed to a suturing and graspingdevice configured to provide the dual function of needle driving andtissue grasping. The suturing and grasping device includes a stationaryjaw member and two movable jaw members. A first movable jaw member isconfigured to move relative to, and cooperate with, the stationary jawmember to grasp or retain tissue. A second movable jaw member isconfigured to move relative to, and cooperate with, the stationary jawmember to drive a needle for effectuating a suturing procedure.

In accordance with one aspect of the present disclosure, an endoscopicsuturing and grasping device includes a handle assembly, a shaftassembly, and an end effector. The handle assembly includes a movablehandle and a stationary handle. The shaft assembly extends from thehandle assembly. The end effector is supported on the shaft assembly andincludes a suturing jaw member, a stationary jaw member, and a graspingjaw member. The suturing jaw member is selectively movable relative tothe stationary jaw member to drive a suturing needle between thesuturing jaw member and the stationary jaw member. The grasping jawmember is selectively movable relative to the stationary jaw member tograsp tissue between the stationary jaw member and the grasping jawmember.

In some embodiments, the stationary jaw member may include a firstplurality of grasping teeth and the grasping jaw member may include asecond plurality of grasping teeth. The first and second pluralities ofteeth may be configured to cooperate with one another as the graspingjaw member moves relative to the stationary jaw member. The stationaryjaw member may include a first plurality of needle-driving teeth and thesuturing jaw member may include a second plurality of needle-drivingteeth. The first and second pluralities of needle-driving teeth may beconfigured to cooperate with one another as the suturing jaw membermoves relative to the stationary jaw member.

In certain embodiments, the grasping jaw member and the suturing jawmember may be movable relative to the stationary jaw member independentof one another.

In embodiments, the movable handle of the handle assembly may be movablerelative to the stationary handle member to selectively move at leastone of the suturing jaw member or the grasping jaw member relative tothe stationary jaw member. The movable handle may be movable in a firstdirection relative to the stationary handle to move the suturing jawmember relative to the stationary jaw member. The movable handle may bemovable in a second direction relative to the stationary handle to movethe grasping jaw member relative to the stationary jaw member. The firstand second directions may be different.

In certain embodiments, the grasping jaw member may include a first camplate that extends proximally therefrom and the suturing jaw member mayinclude a second cam plate that extends proximally therefrom, the firstand second cam plates coupled to a drive bar that is movable relative tothe first and second cam plates to move one or both of the grasping jawmember or the suturing jaw member relative to the stationary jaw member.The drive bar may be coupled to the handle assembly and axially movablerelative to the shaft assembly in response to movement of the movablehandle. The first cam plate may define a first cam slot and the secondcam plate may define a second cam slot. The drive bar may include adrive pin that translates along the first and second cam slots to moveone or both of the grasping jaw member or the suturing jaw memberrelative to the stationary jaw member.

In some embodiments, the grasping jaw member and the suturing jaw membermay be pivotably coupled to the stationary jaw member by a pin.

According to yet another aspect of the present disclosure, an endeffector for a suturing and grasping device includes a stationary jawmember, a suturing jaw member, and a grasping jaw member. The suturingjaw member is selectively movable relative to the stationary jaw memberto drive a suturing needle between the suturing jaw member and thestationary jaw member. The grasping jaw member is selectively movablerelative to the stationary jaw member to grasp tissue between thestationary jaw member and the grasping jaw member.

In some embodiments, the grasping jaw member may include a first camplate that extends proximally therefrom and the suturing jaw member mayinclude a second cam plate that extends proximally therefrom. The firstand second cam plates may be configured to couple to a drive bar that ismovable relative to the first and second cam plates to move one or bothof the grasping jaw member or the suturing jaw member relative to thestationary jaw member. The first cam plate may define a first cam slotand the second cam plate may define a second cam slot. The first andsecond cam slots may be configured to receive a drive pin thattranslates along the first and second cam slots to move one or both ofthe grasping jaw member or the suturing jaw member relative to thestationary jaw member. The first cam slot may include a first segmentand a second segment. The first segment may be angled relative to thesecond segment in a first direction. The second cam slot may include afirst segment and a second segment. The second segment of the second camslot may be angled relative to the first segment of the second cam slotin a second direction that is different than the first direction.

In certain embodiments, the stationary jaw member may be disposedbetween the grasping jaw member and the suturing jaw member.

According to still another aspect of the present disclosure, a method ofoperating an end effector for a suturing and grasping device isprovided. The method includes selectively moving a handle in a firstdirection to move a grasping jaw member of the end effector relative toa stationary jaw member of the end effector. The method further includesselectively moving the handle in a second direction to move a suturingjaw member of the end effector relative to the stationary jaw member ofthe end effector, the stationary jaw member disposed between thegrasping jaw member and the stationary jaw member.

Advantageously, the presently disclosed suturing and grasping deviceprovides jaws that can be operated independently to control multiplefunctions, such as needle driving for effectuating suturing and tissuegrasping, to increase operating efficiency. Such structure also enablesa clinician to choose any suitable suture and needle combination (e.g.,different shapes/types of needles and/or sutures may be utilized). Thepresently disclosed suturing and grasping device may be provided asre-usable and/or reposable for limiting costs. Further still, thepresently disclosed endoscopic suturing and grasping device alsoprovides the benefit of enabling a clinician to efficiently suture whilemaintaining a field of view through a camera port. Further, the presentdisclosure provides the advantage of eliminating a need for instrumentexchange between different suturing and tissue grasping devices during aprocedure (e.g., a hernia defect closure) while maintaining tissuegrasping and suturing proficiencies. Further, although described hereinas an endoscopic/laparoscopic device, the presently disclosed suturingand grasping device may be provided as an open device.

BRIEF DESCRIPTION OF THE DRAWINGS

The accompanying drawings, which are incorporated in and constitute apart of this specification, illustrate embodiments of the presentsuturing and grasping devices and, together with a general descriptionof the disclosure given above, and the detailed description of theembodiment(s) given below, serve to explain the principles of thedisclosure, wherein:

FIG. 1 is a perspective view of a suturing and grasping device, and aneedle and suture used therewith in accordance an illustrativeembodiment of the present disclosure;

FIG. 2 is a perspective view of the suturing and grasping deviceillustrating an end effector thereof in a first position;

FIG. 3 a perspective view of the suturing and grasping deviceillustrating the end effector in a second position;

FIG. 4 is an enlarged, perspective view of the end effector in the firstposition;

FIG. 5 is a perspective view, with parts separated, of the end effector;

FIGS. 6A-6C are progressive, side views of the end effector illustratingmovement of a grasping jaw member thereof relative to a stationary jawmember thereof, and with a suturing jaw thereof removed for clarity;

FIGS. 7A-7C are progressive, side views of the end effector illustratingmovement of the suturing jaw thereof relative to the stationary jawmember thereof, and with the grasping jaw thereof removed for clarity;and

FIGS. 8A and 8B are progressive, side views of the end effectorillustrating movement of the grasping and suturing jaw members relativeto the stationary jaw member.

DETAILED DESCRIPTION

Embodiments of the presently disclosed suturing and grasping devices aredescribed in detail with reference to the drawings, in which likereference numerals designate identical or corresponding elements in eachof the several views. As used herein, the term “distal” refers to thatportion of structure farther from the user, while the term “proximal”refers to that portion of structure closer to the user. As used herein,the term “clinician” refers to a doctor, nurse, or other care providerand may include support personnel. Further, terms used herein such as“top,” “bottom,” “side” and similar directional terms are used simplyfor convenience of description and are not intended to limit thedisclosure.

In the following description, well-known functions or constructions arenot described in detail to avoid obscuring the present disclosure inunnecessary detail.

Referring now to FIG. 1, a suturing and grasping device, shown generallyat 10, can be configured for endoscopic (e.g., laparoscopic) and/or opensurgical procedures. Suturing and grasping device 10 includes a handleassembly 20, a shaft assembly 30 that extends distally from handleassembly 20, and an end effector 40 supported on a distal end portion ofshaft assembly 30.

With reference now to FIGS. 1-3, handle assembly 20 of suturing andgrasping device 10 includes a movable handle 22 and a stationary handle24, and/or other suitable actuating mechanism (e.g., a robot, etc.).Movable handle 22 is pivotably coupled to handle assembly 20 (e.g., by apin—not shown) and operably associated with drive assembly 32 of shaftassembly 30 to operate end effector 40 of suturing and grasping device10. Movable handle 22 of handle assembly 20 is positioned to pivotrelative to stationary handle 24. For example, as seen in FIGS. 2 and 3,movable handle 22 is positioned to move in a first direction (e.g.,distally) relative to stationary handle 24, as indicated by arrow “A,”and positioned to move in a second direction (e.g., proximally) relativeto stationary handle 24, as indicated by arrow “B.”

Referring to FIGS. 1 and 5, shaft assembly 30 of suturing and graspingdevice 10 defines a longitudinal axis “L-L” and supports a driveassembly 32. Drive assembly 32 is operably associated with handleassembly 20 at a proximal end portion thereof, and with end effector 40at a distal end portion thereof. As seen in FIG. 5, drive assembly 32includes a drive shaft 34 that has a proximal end portion that isoperatively coupled to movable handle 22 of handle assembly 20, and adistal end portion that has first and second pins 36 a, 36 b extendinglaterally therefrom.

For a more detailed description of suitable surgical suturing devices,systems, and methods that can be modified to provide the suturing andgrasping devices described herein, reference can be made, for example,to U.S. Pat. No. 8,337,515 and to U.S. Pat. No. 9,113,860, the entirecontents of each of which are incorporated herein by reference.

Turning now to FIGS. 4 and 5, end effector 40 of suturing and graspingdevice 10 is supported on shaft assembly 30 (FIG. 1) of suturing andgrasping device 10 and includes a suturing jaw member 42, a stationaryjaw member 44, and a grasping jaw member 46. Suturing jaw member 42 andgrasping jaw member 46 of end effector 40 are pivotably coupled tostationary jaw member 44 of end effector 40 by a pin 48 such that eachof suturing jaw member 42 and grasping jaw member 46 are configured toindependently pivot relative to stationary jaw member 44, as indicatedby arrows “C” and “D” seen in FIGS. 2 and 3, respectively.

Suturing jaw member 42 of end effector 40 is positioned to pivotrelative to the stationary jaw member 44 of end effector 40 to drive asuturing needle “N” (FIG. 1), grasped between suturing jaw member 42 andstationary jaw member 44, for passing suture “S” attached to suturingneedle “N” back-and-forth through tissue (e.g., stitching tissue).Suture “S” can be secured to suturing needle “N” using any conventionalmethod. For example, the suture “S” can be secured to suturing needle“N” by tying and/or knotting (e.g., by looping around an outer surfaceof the respective needle, by a coupling connector, etc.). Alternatively,and or additionally, suturing needle “N” can define any number ofapertures (not shown) into and/or through which suture “S” may besecured.

Suturing jaw member 42 of end effector 40 includes a needle-driving jawportion 42 a, and a cam plate 42 b that extends proximally fromneedle-driving portion 42 a. Needle-driving portion 42 a of suturing jawmember 42 includes a plurality of needle-driving teeth 42 c that aretransversely extending and axially spaced-apart, for example,longitudinally, along needle-driving portion 42 a.

Cam plate 42 b of suturing jaw member 42 defines a pin opening 42 dtherethrough at a distal portion of cam plate 42 b, and a cam slot 42 ethat extends along a proximal portion of cam plate 42 b. Cam slot 42 eof cam plate 42 b includes a first segment 42 f and a second segment 42g, and is positioned to slidably receive first pin 36 a of drive shaft34 therealong. First segment 42 f of cam slot 42 e is angled relative tosecond segment 42 g of cam slot 42 e and relative to the longitudinalaxis “L-L” of shaft assembly 30 of suturing and grasping device 10 whenboth suturing jaw member 44 and grasping jaw member 46 of end effector40 are in a closed or approximated position (see FIG. 1) relative tostationary jaw member 44 of end effector 40. In the same position,second segment 42 g of cam slot 42 e of suturing jaw member 42 isdisposed in mirrored relation to the longitudinal axis “L-L” of shaftassembly 30, or extends in a substantially parallel direction relativeto the longitudinal axis “L-L”.

Stationary jaw member 44 of end effector 40 includes a jaw portion 44 aand first and second support plates 44 b, 44 c that extend from aproximal portion of jaw portion 44 a. First and second support plates 44b, 44 c of stationary jaw member 44 are laterally spaced-apart andpositioned on opposite sides of jaw portion 44 a to receive cam plates42 b, 46 b of suturing jaw member 42 and grasping jaw member 46,respectively, between first and second support plates 44 b, 44 c. Firstand second support plates 44 b, 44 c are identical and each defines apin opening 44 d and an elongated channel 44 e therethrough. Pin opening44 d is positioned to support pin 48 therein, and elongated channels 44e of first and second support plates 44 b, 44 c are positioned toslidably receive first and second pins 36 a, 36 b of drive shaft 34,respectively, therealong.

Jaw portion 44 a of stationary jaw member 44 includes a plurality ofneedle-driving teeth 44 f that are transversely extending and axiallyspaced-apart, for example, longitudinally, along a first surface (e.g.,a bottom surface) of jaw portion 44 a. Needle-driving teeth 44 f ofstationary jaw member 44 are positioned to selectively interdigitatewith the plurality of needle-driving teeth 42 c of suturing jaw member42 of end effector 40 as suturing jaw member 42 pivots relative tostationary jaw member 44 of end effector 40. Jaw portion 44 a ofstationary jaw member 44 further includes a plurality of grasping teeth44 g that are transversely extending and axially spaced-apart, forexample, longitudinally, along a second surface (e.g., a top surface) ofjaw portion 44 a. Grasping teeth 44 g of stationary jaw member 44 arepositioned to selectively interdigitate with a plurality of graspingteeth 46 c of grasping jaw member 46 as grasping jaw member 46 pivotsrelative to stationary jaw member 44.

Grasping jaw member 46 of end effector 40 is positioned to pivotrelative to stationary jaw member 44 of end effector 40 to grasp tissue(not shown) between stationary jaw member 44 and grasping jaw member 46.Grasping jaw member 46 includes a grasping jaw portion 46 a and camplate 46 b that extends proximally from grasping jaw portion 46 a.Grasping jaw portion 46 a of grasping jaw member 46 includes graspingteeth 46 c that are transversely extending and axially spaced-apart, forexample, longitudinally, along grasping jaw portion 46 a.

Grasping teeth 46 c of grasping jaw member 46 are greater in number thanneedle-driving teeth 42 c of suturing jaw member 42. While transverselyextending teeth are shown and described for suturing jaw member 42,stationary jaw member 44, and grasping jaw member 46, it is envisionedand contemplated that teeth or grasping features for jaws 42, 44 and 46may take any form or configuration.

Cam plate 46 b of grasping jaw member 46 defines a pin opening 46 dtherethrough at a distal portion of cam plate 46 b, and a cam slot 46 ethat extends longitudinally along a proximal portion of cam plate 46 b.Cam slot 46 e includes first and second segments 46 f, 46 g, and ispositioned to slidably receive second pin 36 b of drive shaft 34therealong. Second segment 42 g of cam slot 46 e is angled relative tofirst segment 46 f of cam slot 46 e and relative to the longitudinalaxis “L-L” of shaft assembly 30 of suturing and grasping device 10 whenboth suturing jaw member 44 and grasping jaw member 46 of end effector40 are in a closed or approximated position (see FIG. 1) relative tostationary jaw member 44 of end effector 40. In the same position, firstsegment 46 f of cam slot 46 e of grasping jaw member 46 is disposed inmirrored relation to the longitudinal axis “L-L” of shaft assembly 30,or extends in a substantially parallel direction relative to thelongitudinal axis “L-L”. In this regard, cam slot 42 e of suturing jawmember 42 and cam slot 46 e of grasping jaw member 46 are disposed inreverse or opposite orientations along the longitudinal axis “L-L” ofshaft assembly 30 to enable suturing jaw member 42 and grasping jawmember 46 to separately pivot relative to stationary jaw member 44.

In use, as illustrated in FIGS. 2, 3, 5, 6A-6C, 7A-7C, and 8A and 8B,movable handle 22 of handle assembly 20 of suturing and grasping device10 is pivotable relative to stationary handle 24 of handle assembly 20to axially translate drive shaft 34 of drive assembly 32 of suturing andgrasping device 10, as indicated by arrows “X” in FIG. 1. As drive shaft34 of drive assembly 32 translates from a neutral position (e.g., withpins 36 a, 36 b of drive shaft 34 centrally disposed along elongatedchannels 44 e of stationary jaw member 44, see FIGS. 1 and 6A) toward aproximal direction, as indicated by arrow “Xl” illustrated in FIGS. 2,6B, and 6C, for example, grasping jaw member 46 pivots from a closed orapproximated position (FIG. 6A) relative to stationary jaw member 44toward an open or unapproximated position (FIG. 6C) relative tostationary jaw member 44. As drive shaft 34 translates back toward theneutral position (FIG. 1), grasping jaw member 46 pivots toward theclosed or approximated position relative to the stationary jaw member44. As grasping jaw member 46 pivots relative to stationary jaw member44, for example, to grasp tissue between grasping teeth 46 c, 46 g ofrespective grasping and stationary jaw members 46, 44, suturing jawmember 42 remains in a closed or approximated position relative tostationary jaw member 44.

In similar fashion, as drive shaft 34 of drive assembly 32 translatesfrom the neutral position (see FIGS. 1 and 7A) toward a distaldirection, as indicated by arrow “X2” (see FIGS. 3, 7B, 7C, 8B),suturing jaw member 42 pivots from a closed or approximated position(FIG. 7A) relative to stationary jaw member 44 toward an open orunapproximated position (FIG. 7C) relative to stationary jaw member 44.Likewise, as drive shaft 34 translates back toward the neutral position(FIG. 1), suturing jaw member 42 pivots back toward the closed orapproximated position thereof. As suturing jaw member 42 pivots relativeto stationary jaw member 44, for example, to drive needle “N”back-and-forth between needle-driving teeth 42 c, 44 f of suturing jawmember 42 and stationary jaw member 44, respectively, for passing suture“S” through tissue, grasping jaw member 46 remains in its closedposition relative to stationary jaw member 44.

In some embodiments, end effector 40 may include one or more lockingfeatures such as surface texturing, detents, springs, ratchet and pawl,etc., or combinations thereof, which function to lock or bias one ofsuturing jaw member 42 or grasping jaw member 46 in its respectiveclosed position relative to stationary jaw member 44 while the otherpivots relative to stationary jaw member 44.

Any of the components of the presently described devices can be formedof any suitable metallic and/or polymeric material. Securement of any ofthe components of the presently described devices to any of the othercomponents of the presently described devices can be effectuated usingknown fastening techniques such welding (e.g., ultrasonic), crimping,gluing, etc.

The various embodiments disclosed herein may also be configured to workwith robotic surgical systems and what is commonly referred to as“Telesurgery.” Such systems employ various robotic elements to assistthe clinician and allow remote operation (or partial remote operation)of surgical instrumentation. Various robotic arms, gears, cams, pulleys,electric and mechanical motors, etc. may be employed for this purposeand may be designed with a robotic surgical system to assist theclinician during the course of an operation or treatment. Such roboticsystems may include remotely steerable systems, automatically flexiblesurgical systems, remotely flexible surgical systems, remotelyarticulating surgical systems, wireless surgical systems, modular orselectively configurable remotely operated surgical systems, etc.

The robotic surgical systems may be employed with one or more consolesthat are next to the operating theater or located in a remote location.In this instance, one team of clinicians may prep the patient forsurgery and configure the robotic surgical system with one or more ofthe instruments disclosed herein while another clinician (or group ofclinicians) remotely controls the instruments via the robotic surgicalsystem. As can be appreciated, a highly skilled clinician may performmultiple operations in multiple locations without leaving his/her remoteconsole which can be both economically advantageous and a benefit to thepatient or a series of patients.

For a detailed description of exemplary medical work stations and/orcomponents thereof, reference may be made to U.S. Patent ApplicationPublication No. 2012/0116416, and PCT Application Publication No.WO2016/025132, the entire contents of each of which are incorporated byreference herein.

Persons skilled in the art will understand that the structures andmethods specifically described herein and shown in the accompanyingfigures are non-limiting exemplary embodiments, and that thedescription, disclosure, and figures should be construed merely asexemplary of particular embodiments. It is to be understood, therefore,that the present disclosure is not limited to the precise embodimentsdescribed, and that various other changes and modifications may beeffected by one skilled in the art without departing from the scope orspirit of the disclosure. Additionally, the elements and features shownor described in connection with certain embodiments may be combined withthe elements and features of certain other embodiments without departingfrom the scope of the present disclosure, and that such modificationsand variations are also included within the scope of the presentdisclosure. Accordingly, the subject matter of the present disclosure isnot limited by what has been particularly shown and described.

What is claimed is:
 1. An endoscopic suturing and grasping devicecomprising: a handle assembly including a movable handle and astationary handle; a shaft assembly extending from the handle assembly;and an end effector supported on the shaft assembly and including asuturing jaw member, a stationary jaw member, and a grasping jaw member,the suturing jaw member selectively movable relative to the stationaryjaw member to drive a suturing needle between the suturing jaw memberand the stationary jaw member, the grasping jaw member selectivelymovable relative to the stationary jaw member to grasp tissue betweenthe stationary jaw member and the grasping jaw member.
 2. The endoscopicsuturing and grasping device of claim 1, wherein the stationary jawmember includes a first plurality of grasping teeth and the grasping jawmember includes a second plurality of grasping teeth, the first andsecond pluralities of teeth configured to cooperate with one another asthe grasping jaw member moves relative to the stationary jaw member. 3.The endoscopic suturing and grasping device of claim 2, wherein thestationary jaw member includes a first plurality of needle-driving teethand the suturing jaw member includes a second plurality ofneedle-driving teeth, the first and second pluralities of needle-drivingteeth configured to cooperate with one another as the suturing jawmember moves relative to the stationary jaw member.
 4. The endoscopicsuturing and grasping device of claim 1, wherein the grasping jaw memberand the suturing jaw member are movable relative to the stationary jawmember independent of one another.
 5. The endoscopic suturing andgrasping device of claim 1, wherein the movable handle of the handleassembly is movable relative to the stationary handle member toselectively move at least one of the suturing jaw member or the graspingjaw member relative to the stationary jaw member.
 6. The endoscopicsuturing and grasping device of claim 5, wherein the movable handle ismovable in a first direction relative to the stationary handle to movethe suturing jaw member relative to the stationary jaw member, and themovable handle is movable in a second direction relative to thestationary handle to move the grasping jaw member relative to thestationary jaw member, the first and second directions being different.7. The endoscopic suturing and grasping device of claim 1, wherein thegrasping jaw member includes a first cam plate that extends proximallytherefrom and the suturing jaw member includes a second cam plate thatextends proximally therefrom, the first and second cam plates coupled toa drive bar that is movable relative to the first and second cam platesto move at least one of the grasping jaw member or the suturing jawmember relative to the stationary jaw member.
 8. The endoscopic suturingand grasping device of claim 7, wherein the drive bar is coupled to thehandle assembly and axially movable relative to the shaft assembly inresponse to movement of the movable handle.
 9. The endoscopic suturingand grasping device of claim 7, wherein the first cam plate defines afirst cam slot and the second cam plate defines a second cam slot, andwherein the drive bar includes a drive pin that translates along thefirst and second cam slots to move at least one of the grasping jawmember or the suturing jaw member relative to the stationary jaw member.10. The endoscopic suturing and grasping device of claim 1, wherein thegrasping jaw member and the suturing jaw member are pivotably coupled tothe stationary jaw member by a pin.
 11. An end effector for a suturingand grasping device, the end effector comprising: a stationary jawmember; a suturing jaw member selectively movable relative to thestationary jaw member to drive a suturing needle between the suturingjaw member and the stationary jaw member; and a grasping jaw memberselectively movable relative to the stationary jaw member to grasptissue between the stationary jaw member and the grasping jaw member.12. The end effector of claim 11, wherein the stationary jaw memberincludes a first plurality of grasping teeth and the grasping jaw memberincludes a second plurality of grasping teeth, the first and secondpluralities of teeth configured to cooperate with one another as thegrasping jaw member moves relative to the stationary jaw member.
 13. Theend effector of claim 12, wherein the stationary jaw member includes afirst plurality of needle-driving teeth and the suturing jaw memberincludes a second plurality of needle-driving teeth, the first andsecond pluralities of needle-driving teeth configured to cooperate withone another as the suturing jaw member moves relative to the stationaryjaw member.
 14. The end effector of claim 11, wherein the grasping jawmember and the suturing jaw member are movable relative to thestationary jaw member independent of one another.
 15. The end effectorof claim 11, wherein the grasping jaw member includes a first cam platethat extends proximally therefrom and the suturing jaw member includes asecond cam plate that extends proximally therefrom, the first and secondcam plates configured to couple to a drive bar that is movable relativeto the first and second cam plates to move at least one of the graspingjaw member or the suturing jaw member relative to the stationary jawmember.
 16. The end effector claim 15, wherein the first cam platedefines a first cam slot and the second cam plate defines a second camslot, the first and second cam slots configured to receive a drive pinthat translates along the first and second cam slots to move at leastone of the grasping jaw member or the suturing jaw member relative tothe stationary jaw member.
 17. The end effector of claim 16, wherein thefirst cam slot includes a first segment and a second segment, the firstsegment is angled relative to the second segment in a first direction,and wherein the second cam slot includes a first segment and a secondsegment, the second segment of the second cam slot is angled relative tothe first segment of the second cam slot in a second direction that isdifferent than the first direction.
 18. The end effector of claim 11,wherein the stationary jaw member is disposed between the grasping jawmember and the suturing jaw member.
 19. The end effector of claim 11,wherein the grasping jaw member and the suturing jaw member arepivotably coupled to the stationary jaw member by a pin.
 20. A method ofoperating an end effector for a suturing and grasping device, the methodcomprising: selectively moving a handle in a first direction to move agrasping jaw member of the end effector relative to a stationary jawmember of the end effector; and selectively moving the handle in asecond direction to move a suturing jaw member of the end effectorrelative to the stationary jaw member of the end effector, thestationary jaw member disposed between the grasping jaw member and thestationary jaw member.